This paper presents and implements a novel remote attestation method to ensure the integrity of a device applicable to decentralized infrastructures, such as those found in common edge computing scenarios. Edge computing can be considered as a framework where multiple unsupervised devices communicate with each other with lack of hierarchy, requesting and offering services without a central server to orchestrate them. Because of these characteristics, there are many security threats, and detecting attacks is essential. Many remote attestation systems have been developed to alleviate this problem, but none of them can satisfy the requirements of edge computing: accepting dynamic enrollment and removal of devices to the system, respecting the interrupted activity of devices, and last but not least, providing a decentralized architecture for not trusting in just one Verifier. This security flaw has a negative impact on the development and implementation of edge computing-based technologies because of the impossibility of secure implementation. In this work, we propose a remote attestation system that, through using a Trusted Platform Module (TPM), enables the dynamic enrollment and an efficient and decentralized attestation. We demonstrate and evaluate our work in two use cases, attaining acceptance of intermittent activity by IoT devices, deletion of the dependency of centralized verifiers, and the probation of continuous integrity between unknown devices just by one signature verification.